\contentsline {chapter}{\numberline {1}Introduction}{1}{chapter.1}
\contentsline {section}{\numberline {1.1}Intelligent Robotics}{1}{section.1.1}
\contentsline {section}{\numberline {1.2}Self-organization}{3}{section.1.2}
\contentsline {section}{\numberline {1.3}Internal model}{4}{section.1.3}
\contentsline {section}{\numberline {1.4}Self-organized control}{7}{section.1.4}
\contentsline {section}{\numberline {1.5}Motivation}{9}{section.1.5}
\contentsline {section}{\numberline {1.6}Hypotheses}{9}{section.1.6}
\contentsline {section}{\numberline {1.7}Thesis outline}{10}{section.1.7}
\contentsline {chapter}{\numberline {2}The Homeokinetic control scheme }{12}{chapter.2}
\contentsline {section}{\numberline {2.1}Open and closed loop control}{12}{section.2.1}
\contentsline {section}{\numberline {2.2}The sensorimotor loop}{14}{section.2.2}
\contentsline {section}{\numberline {2.3}Sensorimotor loop dynamics}{17}{section.2.3}
\contentsline {section}{\numberline {2.4}Principle of honeokinesis}{19}{section.2.4}
\contentsline {section}{\numberline {2.5}Learning rule}{22}{section.2.5}
\contentsline {chapter}{\numberline {3}The Internal Models}{24}{chapter.3}
\contentsline {section}{\numberline {3.1}Recurrent Neural Networks}{25}{section.3.1}
\contentsline {subsection}{\numberline {3.1.1}Real time recurrent learning}{25}{subsection.3.1.1}
\contentsline {subsection}{\numberline {3.1.2}Back-propagation decorrelation}{27}{subsection.3.1.2}
\contentsline {subsection}{\numberline {3.1.3}Echo state network}{29}{subsection.3.1.3}
\contentsline {subsection}{\numberline {3.1.4}Jacobian matrix of RNN}{31}{subsection.3.1.4}
\contentsline {section}{\numberline {3.2}Regression Analysis}{33}{section.3.2}
\contentsline {subsection}{\numberline {3.2.1}Linear regression}{33}{subsection.3.2.1}
\contentsline {subsection}{\numberline {3.2.2}Locally weighted regression}{35}{subsection.3.2.2}
\contentsline {subsection}{\numberline {3.2.3}Linear predictor}{37}{subsection.3.2.3}
\contentsline {chapter}{\numberline {4}Evaluation}{38}{chapter.4}
\contentsline {section}{\numberline {4.1}Process}{38}{section.4.1}
\contentsline {section}{\numberline {4.2}Results}{43}{section.4.2}
\contentsline {subsection}{\numberline {4.2.1}Flat Environment}{43}{subsection.4.2.1}
\contentsline {subsection}{\numberline {4.2.2}Slightly rough environment}{45}{subsection.4.2.2}
\contentsline {subsection}{\numberline {4.2.3}Rough environment}{47}{subsection.4.2.3}
\contentsline {subsection}{\numberline {4.2.4}Highly rough environment}{49}{subsection.4.2.4}
\contentsline {section}{\numberline {4.3}Summary}{51}{section.4.3}
\contentsline {chapter}{\numberline {5}Conclusion and Further Work}{59}{chapter.5}
\contentsline {chapter}{Bibliography}{62}{chapter*.41}
